{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:2OXH74J3ZIV7NM7X5DVWKKSP4L","short_pith_number":"pith:2OXH74J3","canonical_record":{"source":{"id":"2008.01513","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-04T13:26:25Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"373094eb7b8abe9f0c7ebb2d73bb19a64e2296d86f341c62819ffb6ce6ee14dd","abstract_canon_sha256":"c9759ef4679df647d89355c5be66e1f1995326060686135190e4ab7dec483da9"},"schema_version":"1.0"},"canonical_sha256":"d3ae7ff13bca2bf6b3f7e8eb652a4fe2cdf3f34ba1a5b2818b2e45a0813f42db","source":{"kind":"arxiv","id":"2008.01513","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.01513","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"arxiv_version","alias_value":"2008.01513v4","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.01513","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_12","alias_value":"2OXH74J3ZIV7","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_16","alias_value":"2OXH74J3ZIV7NM7X","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_8","alias_value":"2OXH74J3","created_at":"2026-07-05T02:29:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:2OXH74J3ZIV7NM7X5DVWKKSP4L","target":"record","payload":{"canonical_record":{"source":{"id":"2008.01513","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-04T13:26:25Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"373094eb7b8abe9f0c7ebb2d73bb19a64e2296d86f341c62819ffb6ce6ee14dd","abstract_canon_sha256":"c9759ef4679df647d89355c5be66e1f1995326060686135190e4ab7dec483da9"},"schema_version":"1.0"},"canonical_sha256":"d3ae7ff13bca2bf6b3f7e8eb652a4fe2cdf3f34ba1a5b2818b2e45a0813f42db","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:29:09.938813Z","signature_b64":"RfYH3kfTU+4zvoblCJyAzyTFWXU7JFre1gyyBr08o8irVZjWnB7ZSlqetxM3CAuQ6/6RGhkgHJ11XvUpsEjZBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d3ae7ff13bca2bf6b3f7e8eb652a4fe2cdf3f34ba1a5b2818b2e45a0813f42db","last_reissued_at":"2026-07-05T02:29:09.938263Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:29:09.938263Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.01513","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:29:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"caN5JZIEeRjjDZHjw0oAZtSs7dRBZMeIhW63Zy1acfWscRyL6mgTia49JbljuLu+iguFCrnsUl8O2Mt5h9mLDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T16:03:36.853896Z"},"content_sha256":"30939ab1211933eb22919cba9db9b52c00e782b3979303ed2f5b7c457bc9f08f","schema_version":"1.0","event_id":"sha256:30939ab1211933eb22919cba9db9b52c00e782b3979303ed2f5b7c457bc9f08f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:2OXH74J3ZIV7NM7X5DVWKKSP4L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Iori Yanokura, Jun Takamatsu, Katsushi Ikeuchi, Kazuhiro Sasabuchi, Naoki Wake, Riku Arakawa, Takuya Kiyokawa","submitted_at":"2020-08-04T13:26:25Z","abstract_excerpt":"A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task. To this end, a desirable robotic application should provide an on-site robot teaching framework for non-experts. Here we propose a Learning-from-Observation (LfO) framework for grasp-manipulation-release class household operations (GMR-operations). The framework maps human demonstrations to predefined task models through one-shot teaching. Each task model contains both high-level knowledge regarding the geometric constraints and low-level knowledge related to human posture"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.01513","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2008.01513/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:29:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YSYbOUsCgfPPDhefKNVLlV8JSSQh5ZVrecEG6pzVcVgHYwwxUKmranG0xxSLRtwJTXFLR6augo7kCq+bDoCyBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T16:03:36.854435Z"},"content_sha256":"bb9446150bfef6283c01abb520ea07499fb640b3f9f7d1abcc9a90c2f57a8ea0","schema_version":"1.0","event_id":"sha256:bb9446150bfef6283c01abb520ea07499fb640b3f9f7d1abcc9a90c2f57a8ea0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/bundle.json","state_url":"https://pith.science/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-05T16:03:36Z","links":{"resolver":"https://pith.science/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L","bundle":"https://pith.science/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/bundle.json","state":"https://pith.science/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2OXH74J3ZIV7NM7X5DVWKKSP4L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:2OXH74J3ZIV7NM7X5DVWKKSP4L","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"c9759ef4679df647d89355c5be66e1f1995326060686135190e4ab7dec483da9","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-04T13:26:25Z","title_canon_sha256":"373094eb7b8abe9f0c7ebb2d73bb19a64e2296d86f341c62819ffb6ce6ee14dd"},"schema_version":"1.0","source":{"id":"2008.01513","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.01513","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"arxiv_version","alias_value":"2008.01513v4","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.01513","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_12","alias_value":"2OXH74J3ZIV7","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_16","alias_value":"2OXH74J3ZIV7NM7X","created_at":"2026-07-05T02:29:09Z"},{"alias_kind":"pith_short_8","alias_value":"2OXH74J3","created_at":"2026-07-05T02:29:09Z"}],"graph_snapshots":[{"event_id":"sha256:bb9446150bfef6283c01abb520ea07499fb640b3f9f7d1abcc9a90c2f57a8ea0","target":"graph","created_at":"2026-07-05T02:29:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2008.01513/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task. To this end, a desirable robotic application should provide an on-site robot teaching framework for non-experts. Here we propose a Learning-from-Observation (LfO) framework for grasp-manipulation-release class household operations (GMR-operations). The framework maps human demonstrations to predefined task models through one-shot teaching. Each task model contains both high-level knowledge regarding the geometric constraints and low-level knowledge related to human posture","authors_text":"Iori Yanokura, Jun Takamatsu, Katsushi Ikeuchi, Kazuhiro Sasabuchi, Naoki Wake, Riku Arakawa, Takuya Kiyokawa","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-04T13:26:25Z","title":"A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.01513","kind":"arxiv","version":4},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:30939ab1211933eb22919cba9db9b52c00e782b3979303ed2f5b7c457bc9f08f","target":"record","created_at":"2026-07-05T02:29:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"c9759ef4679df647d89355c5be66e1f1995326060686135190e4ab7dec483da9","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-04T13:26:25Z","title_canon_sha256":"373094eb7b8abe9f0c7ebb2d73bb19a64e2296d86f341c62819ffb6ce6ee14dd"},"schema_version":"1.0","source":{"id":"2008.01513","kind":"arxiv","version":4}},"canonical_sha256":"d3ae7ff13bca2bf6b3f7e8eb652a4fe2cdf3f34ba1a5b2818b2e45a0813f42db","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d3ae7ff13bca2bf6b3f7e8eb652a4fe2cdf3f34ba1a5b2818b2e45a0813f42db","first_computed_at":"2026-07-05T02:29:09.938263Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:29:09.938263Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RfYH3kfTU+4zvoblCJyAzyTFWXU7JFre1gyyBr08o8irVZjWnB7ZSlqetxM3CAuQ6/6RGhkgHJ11XvUpsEjZBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:29:09.938813Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.01513","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:30939ab1211933eb22919cba9db9b52c00e782b3979303ed2f5b7c457bc9f08f","sha256:bb9446150bfef6283c01abb520ea07499fb640b3f9f7d1abcc9a90c2f57a8ea0"],"state_sha256":"10171d6b79a751d352701a55dde98d222764da55c6fc6b7dba7b5e8df9560859"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N+WpcWKFWq3s6ov5DW3v2DFTNrHLQ6y6GXBmqCYLb81EE0My7Ux8Iu3FuW0wCylCnO+yoNn9VzdmPU96Fev3DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T16:03:36.861128Z","bundle_sha256":"943a18c32ac6b22834396d5968109e2e211c6f7852e6d8e5871b9832306688fa"}}